Cervical vertebra reduction system based on magnetic navigation and mechanical arm

Abstract

The invention relates to a cervical vertebra reduction system based on magnetic navigation and a mechanical arm, and the system comprises a magnetic navigation generator which is used for generating a magnetic field; the positioning instrument is used for being fixed on a target object of a patient, generating a magnetic induction signal in a magnetic field and performing wireless transmission; the mechanical arm is used for adjusting the pose of the target object; and the control device is in communication connection with the positioning instrument and the mechanical arm and is used for acquiring the magnetic induction signal wirelessly transmitted by the positioning instrument so as to track the pose of the target object and control the mechanical arm to adjust the pose of the target object. Through cooperative work of the positioning instrument, the magnetic navigation generator, the mechanical arm and the control device, the pose change of the target object can be accurately monitored in real time, and a doctor is assisted in judging the reduction effect in real time.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a cervical vertebra reduction system based on magnetic navigation and a robotic arm. Background Art

[0002] With the popularization of minimally invasive surgery, the auxiliary positioning and surgical navigation methods guided by medical images have also achieved rapid development. The intraoperative navigation technology has greatly improved the surgical efficiency and operation precision, and can also greatly reduce the radiation to doctors and patients during the operation.

[0003] Taking cervical vertebra dislocation as an example, cervical vertebra dislocation is a serious spinal trauma. Currently, the safest and most effective method is considered to be axial skull traction reduction. In such cervical vertebra reduction surgeries, it is necessary to flexibly control the traction parameters, including the traction angle, traction force, and traction time, etc., to achieve precise pose adjustment. At present, the treatment of cervical vertebra dislocation mostly relies on the clinical experience of doctors. During the treatment process, doctors need to frequently adjust the traction on the patient's head, and need to perform imaging examinations such as X-rays multiple times during the traction process to closely observe the reduction situation. This traditional treatment method is not only prone to over-traction or under-traction, delaying the condition, but also has the problem that doctors and patients are exposed to the radiation environment multiple times, which is easy to cause harm to the body. Summary of the Invention

[0004] Based on this, the embodiments of this application provide a cervical vertebra reduction system based on magnetic navigation and a robotic arm. Through the collaborative work of the positioning device, magnetic navigation generator, robotic arm, and control device, it can monitor the pose transformation of the target object in real time and accurately, and assist doctors in judging the reduction effect in real time.

[0005] The embodiments of this application provide a cervical vertebra reduction system, and the cervical vertebra reduction system includes:

[0006] A magnetic navigation generator for generating a magnetic field;

[0007] A positioning device for being fixed to the patient's target object, generating a magnetic induction signal in the magnetic field and performing wireless transmission;

[0008] A robotic arm for adjusting the pose of the target object;

[0009] A control device, which is communicatively connected to the positioning device and the robotic arm respectively, for obtaining the magnetic induction signal wirelessly transmitted by the positioning device to track the pose of the target object, and controlling the robotic arm to adjust the pose of the target object.

[0010] In one of the embodiments, the positioning device includes a needle body, a magnetic induction component, and a wireless communication component;

[0011] The needle body is configured with a receiving cavity;

[0012] The magnetic induction component includes a first magnetic sensor, a transmission line, and a data interface. The first magnetic sensor is located on one side of the accommodation cavity close to the tip of the needle body. The data interface is exposed outside the needle body. The transmission line connects the first magnetic sensor and the data interface;

[0013] The wireless communication component is used to connect to the data interface detachably.

[0014] In one embodiment, the data interface includes contacts, and the contacts are arranged at the tail of the needle body;

[0015] The wireless communication component includes a power module, an antenna module, and a chip module. The chip module is used to connect to the contacts to obtain the magnetic induction signal of the first magnetic sensor. The antenna module is connected to the chip module and is used to wirelessly transmit the magnetic induction signal.

[0016] In one embodiment, the positioning instrument further includes a guiding component, and the guiding component is configured with a guiding channel; the guiding component is used for the needle body to move along the guiding channel to limit the moving direction of the needle body; the positioning instrument is used to switch between a moving state and a positioning state;

[0017] In the moving state, the needle body penetrates through the guiding component, and the tail of the needle body is connected to an external driving mechanism to move under the drive of the external driving mechanism and move towards the target under the limitation of the guiding component;

[0018] In the positioning state, the tip of the needle body is fixed at the target, the guiding component and the external driving mechanism are separated from the needle body, and the wireless communication component is connected to the data interface to obtain the magnetic induction signal of the first magnetic sensor and perform wireless transmission.

[0019] In one embodiment, the cervical vertebra reduction system further includes:

[0020] A pulling bar, the pulling bar connects the fixing frame of the patient's head and the robotic arm;

[0021] A tracking device, arranged on the pulling bar. The tracking device includes a second magnetic sensor and a wireless communication module. The wireless communication module is used to obtain the magnetic induction signal generated by the second magnetic sensor in the magnetic field and wirelessly transmit it to the control device for the control device to track the pose of the pulling bar.

[0022] In one embodiment, the pulling bar includes a pulling rope, and the pulling rope is wound around the end of the robotic arm;

[0023] The cervical vertebra repositioning device further comprises a traction device, which is connected to an end of the traction rope away from the fixing frame and is used for adjusting the traction force of the traction rope.

[0024] In one of the embodiments, a guide wheel is provided at the end of the mechanical arm, and the pulling rope is wound around the guide wheel so that the pulling angle of the pulling rope can be adjusted through the mechanical arm.

[0025] In one embodiment, the cervical vertebra reduction system further comprises:

[0026] The marking device includes a flexible patch, a plurality of magnetic positioning sensors and a wireless transmission module. The flexible patch is used to wrap around and attach to the patient's neck. The plurality of magnetic positioning sensors are built into the flexible patch. The wireless transmission module is used to obtain the magnetic induction signals generated by the plurality of magnetic positioning sensors in the magnetic field and wirelessly transmit them to the control device for the control device to perform spatial registration.

[0027] In one embodiment, the control device is used to perform the following steps:

[0028] Inputting the patient's cervical spine scan image and target parameter information into a pre-built data model to obtain a corresponding reduction program; wherein the reduction program includes a multi-level traction strategy, and each level of the traction strategy includes traction angle information, traction strength information, and traction duration information;

[0029] According to the reset procedure, the traction parameters are sent to the robot arm. In one embodiment, the control device is further configured to perform the following steps:

[0030] Based on the resetting procedure, a preliminary demonstration of the resetting process of the target object is performed;

[0031] And / or, according to the reset completion confirmation instruction, the robot arm is controlled to gradually cancel the traction force.

[0032] In one embodiment, the control device is further configured to perform the following steps:

[0033] receiving an external instruction, and regenerating a reset strategy in combination with at least one of the multi-level pulling strategies;

[0034] The traction parameters are sent to the robot arm according to the reset strategy.

[0035] In one embodiment, the control device is further configured to perform the following steps:

[0036] Comparing the position of the positioning device with the expected reset position of the target object under the current level of traction strategy to obtain an evaluation result;

[0037] Based on the evaluation results, calculate an adjustment increment to adjust the next-level traction strategy.

[0038] The above cervical vertebra reduction system based on magnetic navigation and robotic arm can, through the collaborative work of the positioning instrument, magnetic navigation generator, robotic arm, and control device, monitor the pose transformation of the target object in real time and accurately, assist the doctor in judging the reduction effect in real time, improve the accuracy and safety of reduction, and at the same time reduce the operation difficulty and workload of the doctor, as well as reduce the radiation caused by multiple CT image irradiations. In addition, the presence of the positioning instrument in this example can provide positioning and tracking for intraoperative navigation. The real-time pose of the target object can be reflected through the real-time pose of the positioning instrument. While assisting the doctor in judging the reduction effect, the parameters such as the traction force, traction angle, and traction time of the robotic arm can also be flexibly adjusted according to the real-time traction effect, thereby realizing a safe and efficient surgical process, being beneficial to improving the accuracy and flexibility of the cervical vertebra reduction surgery, and at the same time improving the surgical efficiency and surgical precision. Brief Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of a cervical vertebra reduction system provided according to some embodiments of the present application.

[0040] Figure 2 It is an exploded structural diagram of a positioning instrument provided according to some embodiments of the present application.

[0041] Figure 3 It is a schematic structural diagram of a positioning instrument and a target object in a moving state provided according to some embodiments of the present application.

[0042] Figure 4 It is a schematic structural diagram of a positioning instrument and a target object in a positioning state provided according to some embodiments of the present application.

[0043] Figure 5 It is a schematic application diagram of a marking device in a cervical vertebra reduction system provided according to some embodiments of the present application.

[0044] Figure 6 It is a schematic structural diagram of a marking device provided according to some embodiments of the present application.

[0045] Reference Numerals in the Drawings:

[0046] 10. Target object;

[0047] 110. Needle body; 111. Needle tip; 120. Magnetic induction component; 123. Data interface; 121. First magnetic sensor; 122. Transmission line; 130. Wireless communication component; 140. Guiding component;

[0048] 200. Magnetic navigation generator;

[0049] 300. Robotic arm;

[0050] 400. Marking device; 420. Magnetic positioning sensor; 410. Flexible sticker; 430. Wireless transmission module;

[0051] 500. Control device;

[0052] 600. Pulling strip;

[0053] 700. Tracking device;

[0054] 800. Traction device;

[0055] 900. Fixing bracket. Detailed implementation manners

[0056] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0057] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0058] In addition, if terms such as "first" and "second" appear, these terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0059] In this application, unless otherwise clearly defined and limited, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] In this application, unless otherwise clearly defined and limited, if there is a description such as the first feature being "on" or "under" the second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower horizontal level than the second feature.

[0061] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0062] Since the traditional axial skull traction reduction method is prone to over-traction or under-traction, delaying the disease condition, and there is also the problem that doctors and patients are exposed to the radiation environment multiple times, which is likely to cause harm to the body. The inventor found that the skull traction reduction can be assisted by navigation methods such as light, electromagnetic or ultrasonic technologies, and it can also greatly reduce the radiation to doctors and patients during the operation. The implementation of the above navigation methods usually requires real-time tracking of the relative pose changes between the injured vertebrae. It is found that when using the optical navigation method, it is necessary to ensure that there is no occlusion between the camera and the injured vertebra, and the implementation difficulty is relatively large; then, it is found that the magnetic navigation method is not affected by light occlusion. By placing the magnetic positioning sensor at the end of the instrument or inside the patient, the tracking of the pose change of the injured vertebra can be realized. However, the inventor found that most of the currently used magnetic positioning sensors are wired sensors. When placed at the end of the instrument, it is easy to block the doctor's line of sight and cause problems such as cable pulling during the operation. Moreover, the inventor also found that the current change of the traction parameters during the traction reduction of the cervical vertebra still requires manual operation by the doctor, and there is a risk of operation errors during the frequent operation process.

[0063] Based on the above problems, an embodiment of the present application provides a cervical vertebra reduction system, which may include a magnetic navigation generator 200, a positioning instrument, a robotic arm 300 and a control device 500.

[0064] Among them, the magnetic navigation generator 200 is used to generate a magnetic field; the positioning instrument is used to be fixed to the patient target 10, generate a magnetic induction signal in the magnetic field and transmit it wirelessly; the robotic arm 300 is used to adjust the pose of the target 10; the control device 500 is communicatively connected to the positioning instrument and the robotic arm 300 respectively, and is used to obtain the magnetic induction signal wirelessly transmitted by the positioning instrument to track the pose of the target 10, and control the robotic arm 300 to adjust the pose of the target 10.

[0065] It can be understood that the target 10 in this example may be the vertebra of the cervical vertebra. The magnetic navigation generator 200 may be located on one side of the patient's head to keep a relatively close distance from the positioning instrument, so that for example, the induction element in the positioning instrument can generate a magnetic induction signal in the magnetic field generated by the magnetic navigation generator 200, and the control device 500 can position and track the positioning instrument. Among them, the magnetic field intensity and range of the magnetic navigation generator 200 can be adjusted according to actual needs. For example, the magnetic field intensity can be adjusted according to the patient's body type, treatment site, etc., as long as it ensures that the positioning instrument can accurately sense.

[0066] Among them, the positioning instrument can be understood as a Kirschner wire used in conventional surgery or a special needle body 110 provided with a sensing element (such as a magnetic induction sensor). The sensing element can be clamped on the above-mentioned needle body 110 through a buckle, a needle clip, etc., or built into the above-mentioned needle body 110. To avoid problems such as the doctor's line of sight being blocked and being easily pulled by the connecting cable of the sensing element, a Bluetooth module electrically connected to the sensing element can also be clamped outside the needle body 110 to wirelessly transmit the magnetic induction signal of the sensing element collected through the Bluetooth module to the control device 500 to get rid of the cable restraint.

[0067] The robotic arm 300 can be connected to the patient's head, specifically referring to being connected to a fixing frame 900 fixed on the patient's head. The robotic arm 300 can have multiple degrees of freedom to facilitate the traction and angular torsion of the patient's neck to achieve flexible and multi-degree-of-freedom traction adjustment of the patient's neck.

[0068] In this example, at least two positioning instruments can be fixed at the patient's cervical vertebra. During the pulling process of the robotic arm 300, the control device 500 can simultaneously receive the magnetic induction signals generated by at least two positioning instruments in the magnetic field and monitor the reduction pose of the injured vertebra based on the received magnetic induction signals.

[0069] In addition, the pulling parameters (including pulling force, pulling angle, pulling time, torsion angle, etc.) of the robotic arm 300 for pulling the patient's head can be manually input by the doctor or generated intelligently, which is not limited here.

[0070] In this application, through the collaborative work of the positioning instrument, the magnetic navigation generator 200, the robotic arm 300, and the control device 500, the pose transformation of the target object 10 can be monitored in real time and accurately, assisting the doctor to judge the reduction effect in real time, improving the accuracy and safety of the reduction, and at the same time reducing the operation difficulty and workload of the doctor, as well as reducing the radiation caused by multiple CT image irradiations. In addition, the presence of the positioning instrument in this example can provide positioning and tracking for intraoperative navigation. The real-time pose of the target object 10 can be reflected through the real-time pose of the positioning instrument. While assisting the doctor to judge the reduction effect, the parameters such as the pulling force, pulling angle, and pulling time of the robotic arm 300 can also be flexibly adjusted according to the real-time traction effect, so as to realize a safe and efficient surgical process, which is beneficial to improving the accuracy and flexibility of the cervical vertebra reduction surgery, and at the same time improving the surgical efficiency and surgical precision.

[0071] Next, the specific structure of the cervical vertebra reduction system provided by the embodiments of the present application will be introduced. Refer to Figure 1 - Appendix Figure 6 to introduce the specific structure of the cervical vertebra reduction system provided by the embodiments of the present application. Refer to Figure 1 and Figure 2 , Figure 1 is a schematic structural diagram of a cervical vertebra reduction device according to some embodiments of the present application.Figure 2 Schematic exploded view of a positioning instrument provided according to some embodiments of the present application.

[0072] In some embodiments, the positioning instrument may include a needle body 110, a magnetic induction component 120, and a wireless communication component 130. The magnetic induction component 120 is disposed on the needle body 110, and the magnetic induction component 120 has a data interface 123; the wireless communication component 130 is configured to be detachably connected to the needle body 110 and electrically connected to the data interface 123 when connected to the needle body 110, so as to wirelessly transmit the data information collected from the data interface 123.

[0073] It can be understood that the needle body 110 provided in this example may be a pedicle screw or a Kirschner wire used in a conventional operation, or a specially made needle body 110. Implanting the needle body 110 into, for example, the pedicle bone can stabilize the pedicle, prevent spinal instability caused by fractures, dislocations, etc., relieve the pain of the patient, and promote the healing of spinal fractures or injuries. Of course, in addition to the above functions, the needle body 110 in this example can also be used to locate and track the injured vertebra during the operation to locate the position and posture of the injured vertebra and assist the doctor in judging the reduction effect.

[0074] First, taking the needle body 110 as a bone needle used in a conventional manner as an example for illustration, the magnetic induction component 120 may be a magnetic induction sensor. The magnetic induction sensor may be pre-fixed on the needle body 110, for example, clamped outside the needle body 110 by a buckle, a needle clip, etc. The magnetic induction sensor may reserve a data interface 123 outside the needle body 110. When the needle body 110 enters the vertebra with an external driving mechanism (drill bit) and is fixed to the vertebra, the external driving mechanism is removed, and then the wireless communication component 130 is clamped to the needle body 110 (for example, the tail end of the needle body 110 opposite to the needle tip 111) and electrically connected to the data interface 123. In this example, by setting the magnetic induction component 120 to be detachably connected to the needle body 110, the small size of the needle body 110 can be maintained, which is beneficial for the needle body 110 to enter the target of the patient, thereby improving the feasibility of the surgical operation.

[0075] Of course, the wireless communication component 130 can not only wirelessly transmit the magnetic induction signal of the magnetic induction sensor, but also power the induction sensor. For example, the wireless communication component 130 is a Bluetooth module with a small volume and low power consumption.

[0076] It should be noted that the above magnetic induction component 120 and wireless communication component 130 may be pre-coupled. That is, only the bone needle enters the vertebra under the drive of an external driving mechanism. After the bone needle is fixed to the vertebra, the external driving mechanism is removed, and then the coupled magnetic induction component 120 and wireless communication component 130 are clamped or held on the needle body 110, for example, can be held at the tail end of the needle body 110.

[0077] Secondly, taking the needle body 110 as a special needle as an example for illustration, the special needle can be constructed with a receiving cavity inside it, and the receiving cavity can be infinitely close to the position of the needle tip 111. The above magnetic induction sensor can be built into the receiving cavity, that is, the magnetic induction sensor can be arranged near the needle tip 111. This kind of arrangement can reduce the error caused by the deformation of the needle body 110 due to the stretching of muscles and other soft tissues during the cervical traction reduction, so as to more accurately track the pose change of the injured vertebra. Regarding the specific way of constructing the receiving cavity in the needle body 110 and the connection between the wireless communication component 130 and the magnetic induction component 120, reference can be made to the following examples for understanding, and details will not be elaborated here.

[0078] In addition, whether the above magnetic induction component 120 is fixedly connected or detachably connected to the needle body 110, the wireless communication component 130 is detachably connected to the needle body 110. This kind of setting method can replace the wireless communication component 130 in time and quickly when the power of the wireless communication component 130 is insufficient or there is a fault, without replacing the entire positioning device, which is beneficial to reducing costs.

[0079] In the above example, by detachably connecting the wireless communication component 130 to the needle body 110, on the one hand, during the process of the needle body 110 entering the target object 10 with the help of an external driving mechanism, the position where the wireless communication component 130 is to be installed can be used to connect with the needle body 110, so as to ensure the stable entry of the needle body 110 into the vertebra. On the other hand, after the needle body 110 is fixed to the vertebra and the external driving mechanism is withdrawn, the wireless communication component 130 can be successfully installed on the needle body 110 and electrically connected to the data interface 123 of the magnetic induction component 120 that is pre-installed on the needle body 110 or installed on the needle body 110 together with the wireless communication component 130, so as to wirelessly transmit the magnetic induction signal collected by the magnetic induction component 120. The setting of the wireless communication component 130 in this example realizes the wireless transmission of data, gets rid of the cable bondage, and reduces the interference to the surgical operation. Moreover, the existence of the positioning device in this example can provide positioning and tracking for intraoperative navigation. The real-time pose of the injured vertebra can be reflected through the real-time pose of the positioning device, which helps the doctor judge the reduction effect, avoids the radiation caused by multiple imaging examination devices in traditional surgery, and also improves the accuracy of the surgery.

[0080] Such as Figure 2 and Figure 3 shown, Figure 3 FIG. is a schematic structural diagram of the positioning device in a moving state and the target object according to some embodiments of the present application. In some embodiments, the needle body 110 is constructed with a receiving cavity, and the magnetic induction component 120 is placed in the receiving cavity; the data interface 123 is exposed outside the needle body 110.

[0081] It can be understood that the size of the accommodation cavity can be the same as that of the magnetic induction component 120 or slightly larger than that of the magnetic induction component 120 to avoid the problem that an overly large accommodation cavity affects the cavity of the needle body 110. In this example, the magnetic induction component 120 can be built into the needle body 110 during the manufacturing process of the needle body 110. Alternatively, after the needle body 110 is manufactured, the magnetic induction component 120 is placed in the accommodation cavity through the opening reserved in the accommodation cavity. At the same time, to ensure the stability of the magnetic induction component 120 in the accommodation cavity, the magnetic induction component 120 can be fixed in the needle body 110 by means such as gluing.

[0082] In this example, the method of placing the magnetic induction component 120 in the accommodation cavity can make the magnetic induction component 120 as close as possible to the tip 111 of the needle, that is, as close as possible to the inside of the injured vertebra, so as to reduce the error caused by the deformation of the needle body 110 due to the stretching of soft tissues such as muscles during the reduction traction process, and more accurately reflect the real-time pose of the injured vertebra through the real-time pose of the magnetic induction component 120, so as to facilitate the real-time and accurate monitoring of the reduction situation of the injured vertebra.

[0083] In some embodiments, the needle body 110 includes a tip and a tail. The tip of the needle body 110 is defined as the tip 111, and the tail of the needle body 110 is defined as the needle tail. The accommodation cavity extends from the needle tail towards the tip 111, and there is a preset distance between the accommodation cavity and the tip 111.

[0084] Specifically, the accommodation cavity in this example extends along the axial direction of the needle body 110 and infinitely approaches the tip 111 from the needle tail. Of course, to ensure the strength at the tip 111, usually there is a preset distance between the accommodation cavity and the tip 111, and this distance can be set according to the actual size, material, etc. of the needle body 110, which is not limited here.

[0085] As Figure 2 shown, in some embodiments, the magnetic induction component 120 includes a first magnetic sensor 121, a transmission line 122, and a data interface 123. The first magnetic sensor 121 is located on one side of the accommodation cavity close to the tip (tip 111) of the needle body, and the transmission line 122 connects the first magnetic sensor 121 and the data interface 123.

[0086] Specifically, the first magnetic sensor 121 in this example can be a magnetoresistive sensor, which has the characteristics of high sensitivity and strong anti-interference ability, so as to quickly and accurately convert the magnetic field change into an electrical signal. The magnetic sensor is placed on one side of the accommodation cavity close to the tip 111, and the transmission line 122 connected to the first magnetic sensor 121 can extend to the needle tail and be connected to the data interface 123 exposed at the needle tail.

[0087] Among them, the transmission line 122 can be a metal wire with low resistance and can be wrapped in an insulating material to improve the signal transmission quality and data transmission reliability.

[0088] As Figure 3 shown, in some embodiments, the data interface 123 includes contacts disposed at the tail (the needle tail) of the needle body 110; the wireless communication component 130 includes a power module, an antenna module, and a chip module. The chip module is used to connect to the contacts to obtain the magnetic induction signal of the first magnetic sensor 121, and the antenna module is electrically connected to the chip module for wirelessly transmitting the magnetic induction signal.

[0089] Specifically, the data interface 123 may be an interface left in the form of contacts outside the needle tail where the above-mentioned transmission line 122 extends to the needle tail. For example, the contacts may be formed at the needle tail by a metal plating process, and the contacts may be evenly distributed on the side wall of the needle tail to form a regular arrangement for facilitating the docking with the wireless communication component.

[0090] The power module of the wireless communication component 130 may use a rechargeable lithium battery or the like to provide stable power support for the entire wireless communication component 130. The antenna module may select a miniaturized and high-gain antenna, such as a ceramic antenna, to ensure the effective transmission of wireless signals. The chip module uses a high-performance microprocessor that can integrate functions such as signal processing, data encoding, and decoding to quickly and accurately process the magnetic induction signal received from the contacts and wirelessly transmit it through the antenna module.

[0091] In this example, by forming the contacts on the side wall of the needle tail, it is convenient to quickly dock with the wireless communication component 130, improving the connection efficiency. And through the antenna module and the chip module in the wireless communication component 130, the fast processing and accurate transmission of data are ensured, realizing the efficient wireless transmission of data of the positioning device.

[0092] As Figure 3 and Figure 4 shown, Figure 4 FIG. is a schematic structural diagram of the positioning device and the target object in the positioning state according to some embodiments of the present application. In some embodiments, the positioning device further includes a guiding component 140, and the guiding component 140 is configured with a guiding channel; the guiding component 140 is used for the needle body 110 to move along the guiding channel to limit the moving direction of the needle body 110.

[0093] It can be understood that the guiding component 140 is a guide, mainly used to assist medical staff in moving the positioning instrument to the target 10. The guide can be held by hand or clamped by a robotic arm. To improve the guiding accuracy of the guiding component 140, a directional sensor is built into the guiding component 140, and the directional sensor can assist in positioning the guiding component 140 at a predetermined position and angle. When the guiding component 140 is at the predetermined position and angle, the medical staff inserts the needle body 110 into the guiding channel of the guiding component 140, and drives the needle body 110 to rotate through an external driving mechanism to enter the target 10 until it is fixedly connected to the target 10.

[0094] In some embodiments, the positioning instrument is used to switch between a moving state and a positioning state; in the moving state, as Figure 3 shown, the needle body 110 is inserted into the guiding component 140, and the needle tail is connected to an external driving mechanism to move under the drive of the external driving mechanism and move towards the vertebra under the limitation of the guiding component 140; in the positioning state, as Figure 4 shown, the tip (the needle tip 111) of the needle body 110 is fixed at the target 10 (such as a vertebra), the guiding component 140 and the external driving mechanism are separated from the needle body 110, and the wireless communication component 130 is connected to the needle tail to receive the magnetic induction signal sent by the magnetic induction component 120 in real time and wirelessly transmit the magnetic induction signal.

[0095] Specifically, to more clearly describe the use of the positioning instrument, the above example of setting the magnetic induction component 120 in the accommodation cavity of the needle body 110 is used for illustration. During the process of inserting the needle body 110 into the target 10, the needle body 110 passes through the guiding channel of the guiding component 140, and the tail end of the needle body 110 is connected to an external driving mechanism (such as an electric drill). Under the guidance of the guiding component 140, the needle tip 111 of the needle body 110 is driven to rotate to enter the safe area of the target 10 (such as the vertebral spinous process). After the needle body 110 is fixed to the target 10, the medical staff can rotate the needle tail to determine the connection firmness between the two, that is, determine that the needle body 110 enters the positioning state, and clamp the wireless communication component 130 at the needle tail and dock it with the data interface 123. Finally, the magnetic field can be activated to activate the magnetic induction component 120 to achieve real-time positioning and tracking of the magnetic induction component 120.

[0096] As Figure 5 and Figure 6 shown, Figure 5 FIG. is an application schematic diagram of a marking device in a cervical vertebra reduction system according to some embodiments of the present application. Figure 6Schematic structural diagram of a marking device provided according to some embodiments of the present application. In some embodiments, the cervical spine reduction system further includes a marking device 400. The marking device 400 includes a flexible patch 410, a plurality of magnetic positioning sensors 420, and a wireless transmission module 430. The flexible patch 410 is used to surround and attach to the patient's neck. The plurality of magnetic positioning sensors 420 are built into the flexible patch 410. The wireless transmission module 430 is used to acquire the magnetic induction signals generated by the plurality of magnetic positioning sensors 420 in the magnetic field and wirelessly transmit them to the control device 500 for spatial registration by the control device.

[0097] Specifically, the shape and size of the flexible patch 410 can be a general size or customized according to the patient's cervical physiological curve to have a good fit with the patient's neck surface. For example, the flexible patch 410 can be set in a long strip shape and six magnetic positioning sensors 420 are built in. The six magnetic positioning sensors 420 are arranged in an array on the flexible patch 410 so that after the flexible patch 410 is wound around the patient's neck, in this example, the six magnetic positioning sensors 420 are not in the same plane, which is beneficial to subsequent spatial registration in a large range of space.

[0098] The wireless transmission module 430 in this example can be integrated on the edge of the flexible patch 410, but there is no specific limitation.

[0099] It should be noted that if a detection array is also fixed at other positions on the patient's body surface, the flexible patch 410 can be removed after the spatial registration is completed. Of course, the flexible patch 410 can also be always attached to the patient's body surface, and there is no limitation here.

[0100] To effectively achieve the above objective of monitoring the position and pose of the injured vertebra through magnetic navigation, it is necessary to match the patient before traction, the image space corresponding to the cervical spine scan image, and the intraoperative space where the magnetic navigation generator 200 is located, that is, the space registration process. This process can be as follows: First, the marking device 400 is wrapped around the patient's neck. A plurality of magnetic positioning sensors 420 on the marking device 400 can be arranged in an array to achieve positioning within a large range of space. Second, the patient and the marking device 400 on the patient are scanned together by CT (Computed Tomography) or an O-arm. A plurality of magnetic positioning sensors 420 will be developed in the scanned image, so as to obtain the developed coordinate positions of the cervical spine region based on the CT or O-arm coordinate system and the plurality of magnetic positioning sensors 420. Of course, additional development marks can also be set in the marking device 400 to be developed when the marking device 400 is scanned together with the patient. Then, by controlling the magnetic navigation generator 200 to generate a magnetic field, the positions of a plurality of magnetic positioning sensors 420 on the marking device 400 can be obtained. Since the relative positions of the plurality of magnetic positioning sensors 420 and the development marks on the marking device 400 (if the magnetic positioning sensors 420 are used for development, they are located at the same position) are known, the CT or O-arm coordinates and the magnetic field coordinates can be matched according to this relative position to achieve space registration.

[0101] In this example, through the collaborative work of the positioning instrument, the magnetic navigation generator 200, the robotic arm 300, the marking device 400, and the control device 500, the position and pose transformation of the target object 10 can be monitored in real time and accurately, assisting the doctor to judge the reduction effect in real time, improving the accuracy and safety of reduction. At the same time, it can also reduce the operation difficulty and workload of the doctor, and reduce the radiation caused by multiple CT image irradiations.

[0102] In addition, in this example, the relative position and pose change of the target object 10 can be displayed in real time, so that parameters such as the traction force, traction angle, and traction time of the robotic arm 300 can be flexibly adjusted according to the real-time traction effect, thereby realizing a safe and efficient surgical process, which is beneficial to improving the accuracy and flexibility of the cervical spine reduction surgery, and at the same time improving the surgical efficiency.

[0103] As Figure 1 shown, in some embodiments, the cervical spine reduction system further includes a pulling strip 600 and a tracking device 700. The pulling strip 600 connects the fixing frame 900 of the patient's head and the robotic arm 300; the tracking device 700 is arranged on the pulling strip 600. The tracking device 700 includes a second magnetic sensor and a wireless communication module. The wireless communication module is used to receive the magnetic induction signal generated by the second magnetic sensor in the magnetic field and wirelessly transmit it to the control device 500 for the control device 500 to track the position and pose of the pulling strip 600 in real time.

[0104] Specifically, the pulling strip 600 in this example can be a medical rope made of high-strength and low-elasticity materials to ensure that it will not break or over-elongate during the pulling process. One end of the pulling strip 600 can be fixed on the fixing frame 900, and the other end can be fixedly connected to the robotic arm 300. By applying force through the robotic arm 300, the pulling force and pulling angle of the pulling strip 600 can be changed. Of course, the other end of the pulling strip 600 can also be only wound around the robotic arm 300, that is, the robotic arm 300 only changes the pulling angle of the pulling strip 600 at this point.

[0105] The tracking device 700 can be clamped on the pulling strip 600, which is mainly used to monitor the pulling direction and displacement of the pulling strip 600. That is to say, the tracking device 700 can obtain the pulling angle of the pulling strip 600 in real time and feedback it to the control device 500, so that the control device 500 can adjust the robotic arm 300 in real time according to the data of the tracking device 700 and the data of the first magnetic sensor 121.

[0106] Among them, the second magnetic sensor can also generate a magnetic induction signal in the magnetic field generated by the above-mentioned magnetic navigation generator 200 to realize the positioning and tracking of the second magnetic sensor by the control device 500. The wireless communication module can select a low-power and high-transmission-efficiency Bluetooth module to ensure that the magnetic induction signal generated by the second magnetic sensor is transmitted to the control device 500 in a timely and accurate manner.

[0107] It should be noted that the tracking device 700 in this example can also monitor the displacement of the pulling strip 600. When the displacement of the traction strip exceeds the safety protection value, the continuous traction is stopped. For example, if the pulling strip 600 moves more than 2 cm along its axial direction from the initial position, the robotic arm 300 is controlled to stop the continuous pulling action or an alarm is issued.

[0108] As Figure 1 shown, in some embodiments, the pulling strip 600 includes a pulling rope, and the pulling rope is wound around the end of the robotic arm 300; the cervical vertebra reduction system further includes a traction device 800, and the traction device 800 is connected to the end of the pulling rope away from the fixing frame 900 for adjusting the traction force of the pulling rope.

[0109] Specifically, the traction device 800 can be an electric traction device 800 or a hydraulic traction device 800, which can accurately adjust the magnitude of the traction force. That is to say, multiple different traction force levels can be set, and doctors can select a suitable level according to the specific conditions of the patient and the reduction stage.

[0110] In this example, the pulling rope located between the fixing bracket 900 and the traction device 800 is wound around the robotic arm 300, so as to facilitate adjusting the traction direction of the pulling rope through the robotic arm 300. In one example, a guide wheel is provided at the end of the robotic arm 300, and the pulling rope is wound around the guide wheel to adjust the traction angle of the pulling rope through the robotic arm 300.

[0111] Specifically, the traction device 800 is only used to adjust the pulling force of the pulling rope, while the robotic arm 300 is used to adjust the traction angle. For example, the traction angles of the patient's head left, right, front, and back can be adjusted. This setting can avoid the situation that the robotic arm 300 applies too much traction force and becomes unstable, which is beneficial to improving the accuracy and safety during traction.

[0112] It should be noted that the number of robotic arms 300 or pulling ropes can also be increased in this example to meet the requirement that the patient's head needs to be twisted (rotated around the cervical vertebra axis) during the reduction process. For example, adding a set of robotic arms 300, the end of which can be directly connected to the fixing bracket 900 to drive the fixing bracket 900 to perform real-time torsional motion.

[0113] In some embodiments, the control device 500 is used to perform at least the following steps:

[0114] Step S101, input the patient's cervical spine scan image and target parameter information into the pre-constructed data model to obtain the corresponding reduction program; wherein, the reduction program includes a multi-level pulling strategy, and each level of pulling strategy includes traction angle information, traction force information, and traction duration information.

[0115] Step S102, send the traction parameters to the robotic arm 300 according to the reduction program.

[0116] It can be understood that, in order to complete the understanding of the execution process of the understanding control device 500, before performing step S101, a space registration step is also required, which can be understood as the registration process of the magnetic navigation coordinates and the scanned image coordinates. First, the marking device 400 is wrapped around the patient's neck, and multiple magnetic positioning sensors 420 on the marking device 400 can be arranged in an array to achieve positioning within a large range of space; secondly, the patient and the marking device 400 thereon are scanned together by CT (Computed Tomography) or an O-arm, and multiple magnetic positioning sensors 420 will be developed in the scanned image, so as to obtain the developed coordinate positions of the cervical spine region based on the CT or O-arm coordinate system and the multiple magnetic positioning sensors 420. Of course, additional development marks can also be set in the marking device 400 to be developed when the marking device 400 is scanned together with the patient. Then, by controlling the magnetic navigation generator 200 to generate a magnetic field, the positions of multiple magnetic positioning sensors 420 on the marking device 400 are obtained. Since the relative positions of multiple magnetic positioning sensors 420 and the development marks on the marking device 400 (if the magnetic positioning sensors 420 are used for development, they are located at the same position) are known, the CT or O-arm coordinates and the magnetic field coordinates can be matched according to the relative positions to achieve space registration.

[0117] Subsequently, the above positioning instrument (including the needle body 110, the first magnetic sensor 121 and the wireless transmission component) is fixed on the target object 10 (such as the injured vertebra) of the patient, and the traction device 800, the robotic arm 300 and the fixing frame 900 are connected through the traction rope, and the tracking device 700 is fixed on the traction rope to complete the preparation work.

[0118] In step S101, the control device 500 will receive the patient's cervical spine scan image and the parameter information of the patient input externally. The parameter information of the patient can be manually input by the doctor, and the parameter information can include information such as the patient's age, height, and weight. The above information will be input into the data model together, and a reduction program for the patient will be generated through the processing of the data model.

[0119] It can be understood that the above-mentioned constructed data model can be formed through big data training, and its data training sources can include: First, clinical case data. For example, a large amount of patient imaging data, which may include the anatomical structure of the cervical vertebrae, the shape information of cervical vertebra dislocations at different degrees, etc. By analyzing a large amount of imaging data, parameters in the normal and abnormal states of the cervical vertebrae can be obtained, serving as the basis for the data model to understand the state of the cervical vertebrae; and a large amount of patient treatment process data, including actual traction angles, traction forces, traction times during the operation, and actual pose changes of the injured vertebra, etc. The above data records the effects of different treatment plans in actual operations, thus providing a basis for training the data model to understand the relationship between different traction strategies and cervical vertebra reduction effects. Second, simulation experiment data. For example, experiments are conducted using a cervical vertebra physical model. By simulating cervical vertebra dislocations at different degrees and then performing reduction operations using various traction methods, during the experiment, parameters such as traction angles, forces, and times can be precisely controlled and recorded, and at the same time, pose change data of the cervical vertebra physical model can be obtained using high-precision measuring instruments. Third, doctor experience data. For example, various plans used by doctors in past cervical vertebra reduction treatments are collected, including the basis for selecting traction parameters, operation skills at different stages, etc. This data reflects the doctor's judgment and decision-making process for cervical vertebra reduction based on clinical experience and can be learned by the data model to improve the rationality and accuracy of the generated reduction program.

[0120] It can be further understood that the reduction program can include multi-level traction strategies. For example, the first-level traction strategy is to apply a traction force of 20 N along the axial direction of the cervical vertebra for 20 minutes; the second-level traction strategy is to apply a traction force of 40 N along the axial direction of the cervical vertebra for 20 minutes; the third-level traction strategy is to adjust the traction angle, deflect 20° to the left (from the patient's perspective), with a traction force of 60 N and a traction time of 30 minutes. Of course, the above reduction program is not limited to the three-level traction strategy in the example.

[0121] In step S102, the control device 500 will send traction parameters to the robotic arm 300 step by step according to the reduction program, and the robotic arm 300 will adjust the traction force and traction angle applied to the fixing frame 900 to perform the reduction of the patient's cervical vertebra.

[0122] It should be noted that during the above reduction process, the control device 500 will receive in real time the magnetic induction signal sent by the positioning device (the first magnetic sensor 121) to generate the pose transformation of the injured vertebra, and will display this monitoring state to the doctor in real time for the doctor to manually adjust at any time.

[0123] It should be noted that the control device 500 in this example may include one or more controllers / actuators. The above steps may be executed by one or more controllers, or one or more actuators, or the controllers and actuators may execute alternately, and no specific limitation is made here. In an actual medical operation scenario, when a doctor or operator faces a control device 500 integrated with a controller and / or an actuator, the operation process will be more convenient. In other words, there is no need to switch between different operation interfaces or devices to complete various operations for cervical vertebra reduction, which improves the convenience and accuracy of the operation and also reduces the possibility of human operation errors.

[0124] In some embodiments, the control device 500 is further configured to execute step S1011 to pre-demonstrate the reduction process of the target object 10 according to the reduction program.

[0125] It can be understood that the control device 500 can generate an animated fast-forward reduction process for each level of traction strategy through the 3D module from a pre-formed reduction program, that is, to display the reduction process of the injured vertebra, so that doctors can view the reduction effect that can be achieved according to the reduction program from different angles, pre-evaluate the feasibility and safety of the reduction plan, and adjust the reduction plan in a timely manner to improve the safety and success rate of the surgery.

[0126] In some embodiments, to clearly understand the specific implementation manner of the above step S102, the control device 500 is further configured to execute the following steps: step S1021, receive an external instruction and regenerate a reduction strategy in combination with at least one level of the multi-level traction strategy; step S1022, send the traction parameters to the robotic arm 300 according to the reduction strategy.

[0127] Specifically, in step S1021, the control device 500 will display the generated reduction program level by level to the doctor, and the doctor can input external instructions at any time. In one example, the external instructions include at least one of operations such as modifying, adding, deleting, and confirming the reduction program.

[0128] Specifically, based on the above reduction program, that is, on the basis of each level of traction strategy, the doctor can modify, add, delete, confirm, etc. the traction strategy according to his own experience. The control device 500 will combine the external instructions with one level of traction strategy, multi-level traction strategy or all levels of traction strategy to generate a new reduction strategy. Of course, the reduction strategy also needs to be finally confirmed by the doctor, that is, the control device 500 can perform the next operation only after receiving the external confirmation instruction.

[0129] It should be noted that the control device 500 can display all multi-level traction strategies to the doctor, or only display the current-level traction strategy. Similarly, after seeing all the multi-level traction strategies, the doctor can choose to adjust all the traction strategies at once, or only adjust one-level traction strategy at a time, and then adjust the next-level traction strategy after the execution of the current-level traction strategy is completed. There is no specific limitation in this regard.

[0130] It should be noted that since the control device 500 receives an external operation instruction, it is necessary to regenerate the reset program in the above step S102 and send the traction parameters to the robotic arm according to the regenerated reset strategy. If the external instruction is only a confirmation instruction, then the reset strategy in this example is equivalent to the reset program in the above example.

[0131] In some embodiments, to clearly understand another specific implementation manner of the above step S102, the control device 500 is further configured to perform the following steps: step S1024, compare the pose of the positioning instrument with the expected reset pose of the target 10 under the current-level traction strategy to obtain an evaluation result; step S1025, based on the evaluation result, calculate an adjustment increment to adjust the next-level traction strategy.

[0132] It can be understood that in addition to the above mode where the doctor can manually adjust at any time, it can also be a mode of intelligent adjustment by the control device 500. The control device 500 will estimate the expected reset effect after operating according to the current-level traction strategy based on the reset program (specifically referring to each traction strategy), including the possible reset effects under different cervical spine conditions and different traction parameters. When the control device 500 executes each operation according to the traction angle information, traction force information, and traction duration information in the reset program, it can predict the expected reset effect according to the corresponding relationship in the data model. Then, during the execution of the current-level traction strategy, the pose of the positioning instrument is received in real time, and the actual pose of the injured vertebra is analyzed based on the pose of the positioning instrument and compared with the expectation to obtain an actual evaluation result. Quantitative evaluation indicators such as pose error and reset progress can be used to evaluate the reset effect.

[0133] According to the evaluation result, the control device 500 will adjust the next-level traction strategy within a safe range and calculate the adjustment increment. For example, the difference between the expected and actual cervical joint angles and vertebral body position offsets can be calculated to quantify the difference between the two. Of course, for different indicators, different weights can also be set to comprehensively evaluate the closeness of the actual reset state and the expected reset effect according to the importance of the weights, so as to adjust the traction degree and traction angle of the next-level traction strategy, thereby improving the accuracy and safety of the reset.

[0134] The above process can timely detect deviations during the reset process and make adjustments by accurately obtaining and comparing the expected reset pose and the actual reset pose. In one example, the control device 500 receives the feedback information of the tracking device 700 in real time to confirm whether the adjustment is successful. It can be understood that the control device 500 obtains the pose of the traction rope (parameters such as traction angle and displacement) in real time by receiving the feedback information of the tracking device 700 in real time, and the pose of the traction rope corresponds to the direct output result of the operation of the robotic arm 300. In this example, the control device 500 can quickly determine whether the robotic arm 300 accurately executes the instruction by verifying whether the traction rope moves according to the preset parameters, so as to ensure the immediate controllability of the traction operation. In addition, the control device 500 receives the data of the positioning instrument (corresponding to the pose of the injured vertebra) and the tracking device 700 (corresponding to the pose of the traction rope) at the same time. Among them, the pose of the traction rope is used as the verification of the operation input end, and the pose of the injured vertebra is used as the verification of the reset effect. The combination of the two can form a closed-loop control. In other words, if the parameters of the traction rope are correct but the injured vertebra is not reset, the strategy needs to be adjusted. If the parameters of the traction rope are abnormal, the operation of the robotic arm 300 needs to be corrected first.

[0135] In addition, in the present application, by receiving the feedback information of the tracking device 700 in real time, the control device 500 can also avoid the problem of abnormal pose data of the injured vertebra caused by signal loss or sensor failure of the positioning instrument. That is, the cervical vertebra reset system can still maintain basic operation control through the pose data of the traction rope. This setting enhances the fault tolerance ability of the cervical vertebra reset system to a certain extent.

[0136] In summary, since the feedback information of the tracking device 700 can immediately and directly reflect the accuracy of the operation of the robotic arm 300, and ensures the safety during the traction process, a complete closed-loop control logic is formed by combining with the evaluation result of the above-mentioned pose of the injured vertebra, and both real-time performance and accuracy are taken into account.

[0137] It should be noted that the adjustment range of the robotic arm 300 can preset a safety threshold, for example, the maximum traction force does not exceed 0.2 times the patient's body weight.

[0138] To more clearly introduce the principle of real-time monitoring and result evaluation of the pose change of the injured vertebra during traction reduction, in this example, a single injured vertebra is taken as an example for description.

[0139] In one embodiment, when the control device calculates the adjustment increment, it includes the following steps: Step S1041, define the pose of the target object in the image coordinate system as the unit matrix , and based on the reset strategy, obtain the expected reset pose of the target object as ; Step S1042, based on image registration, obtain the transformation matrix from the magnetic navigation coordinate system to the image coordinate system as ; Step S1043, at the zero moment, obtain the pose of the positioning instrument in the imaging coordinate system as ; Step S1044, at the t moment, obtain the pose of the positioning instrument in the imaging coordinate system as ; Step S1045, based on the transformation of the pose of the positioning instrument, obtain the pose transformation of the target object, including updating the real-time pose of the target object through the real-time transformation matrix ; Step S1046, based on the expected reset pose and the pose transformation of the target object, obtain the evaluation result ; Step S1047, according to the evaluation result , obtain the difference between the current pose of the target object and the expected reset pose to determine the adjustment increment; where T represents the pose, c represents the target object, s represents the positioning instrument, ct represents the imaging coordinate system, em represents the magnetic navigation coordinate system, 0 represents the zero moment, and t represents the t moment.

[0140] Specifically, first, it can be assumed that the pose of the initial injured vertebra in the imaging coordinate system {ct} after CT scanning is the unit matrix , and then according to the reset strategy, the expected pose after reset is ; Combining the above example, it can be seen that the planning in this example is to decompose the expectations of each step according to the doctor's plan and the reset steps. Then, perform spatial registration. The specific process can be understood with reference to the above example and will not be elaborated here. The transformation matrix from the magnetic navigation coordinate system {em} to {ct} obtained is . Subsequently, perform real-time navigation. The specific process is that at the zero moment, that is, the initial state, the pose of the positioning instrument (the first magnetic sensor) in {ct} is ; At the t moment, that is, the moment when the current-stage reset strategy is completed, the pose of the positioning instrument (the first magnetic sensor) in {ct} is . Then, according to the pose transformation of the positioning instrument, calculate the pose transformation of the injured vertebra. The specific process can be to update the real-time pose of the injured vertebra according to the real-time transformation matrix . Finally, evaluate the current reset result , specifically, according to , it can be known the difference between the current position and posture of the injured vertebra and the expectation. For example, the current pose of the injured vertebra still needs to rotate by an angle around the cervical vertebra axis , that is, . Then, the next-level traction strategy can adjust the traction method to generate the corresponding rotational torque.

[0141] In some embodiments, the control device 500 is further configured to execute step S105, receive a reset completion confirmation instruction, and control the robotic arm 300 to gradually cancel the traction force.

[0142] Specifically, after the reset program is implemented and after receiving the doctor's instruction to confirm the completion of the reset, the control device 500 can control the robotic arm 300 to gradually cancel the traction force, so that the patient's head slowly returns to its original position, avoiding the situation of secondary injury to the patient caused by suddenly canceling all the traction force.

[0143] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0144] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A cervical vertebra reduction system, characterized in that, The cervical spine reduction system includes: A magnetic navigation generator (200) for generating a magnetic field; A positioning device for being fixed to a patient target (10), generating a magnetic induction signal in the magnetic field and performing wireless transmission; A robotic arm (300) for adjusting the pose of the target (10); A control device (500) communicatively connected to the positioning device and the robotic arm (300) respectively, for acquiring the magnetic induction signal wirelessly transmitted by the positioning device to track the pose of the target (10), and controlling the robotic arm (300) to adjust the pose of the target (10).

2. The cervical spine reduction system according to claim 1, characterized in that, The positioning device includes a needle body (110), a magnetic induction component (120), and a wireless communication component (130); The needle body (110) is configured with a receiving cavity; The magnetic induction component (120) includes a first magnetic sensor (121), a transmission line (122), and a data interface (123). The first magnetic sensor (121) is located on one side of the receiving cavity close to the tip of the needle body (110), the data interface (123) is exposed outside the needle body (110), and the transmission line (122) connects the first magnetic sensor (121) and the data interface (123); The wireless communication component (130) is used to detachably connect to the data interface (123).

3. The cervical spine reduction system according to claim 2, characterized in that, The data interface (123) includes contacts, and the contacts are arranged at the tail of the needle body (110); The wireless communication component (130) includes a power module, an antenna module, and a chip module. The chip module is used to connect to the contacts to acquire the magnetic induction signal of the first magnetic sensor (121), and the antenna module is connected to the chip module for wirelessly transmitting the magnetic induction signal.

4. The cervical vertebra reduction system according to claim 2, wherein The positioning device further includes a guiding component (140). The guiding component (140) is configured with a guiding channel; the guiding component (140) is used for the needle body (110) to move along the guiding channel to limit the moving direction of the needle body (110); the positioning device is used to switch between a moving state and a positioning state; In the moving state, the needle body (110) is inserted through the guiding component (140), and the tail of the needle body (110) is connected to an external driving mechanism to move under the drive of the external driving mechanism and move towards the target (10) under the limitation of the guiding component (140); In the positioning state, the tip of the needle body (110) is fixed to the target (10), the guiding component (140) and the external driving mechanism are separated from the needle body (110), and the wireless communication component (130) is connected to the data interface (123) to acquire the magnetic induction signal of the first magnetic sensor (121) and perform wireless transmission.

5. The cervical spine reduction system according to claim 1, characterized in that, The cervical spine reduction system further includes: A pulling strip (600), the pulling strip (600) connecting a fixing frame (900) of the patient's head and the robotic arm (300); A tracking device (700) is arranged on the pulling bar (600), and the tracking device (700) comprises a second magnetic sensor and a wireless communication module, wherein the wireless communication module is used to obtain a magnetic induction signal generated by the second magnetic sensor in the magnetic field, and wirelessly transmit the signal to the control device (500) so that the control device (500) can track the position of the pulling bar (600).

6. The cervical vertebra reduction system according to claim 5, wherein, The pulling bar (600) comprises a pulling rope, and the pulling rope is wound around the end of the mechanical arm (300); The cervical vertebra repositioning system further comprises a traction device (800), wherein the traction device (800) is connected to an end of the traction rope facing away from the fixing frame (900) and is used to adjust the traction force of the traction rope.

7. The cervical spine reduction system according to claim 6, wherein, A guide wheel is provided at the end of the mechanical arm (300), and the pulling rope is wound around the guide wheel so that the pulling angle of the pulling rope can be adjusted through the mechanical arm (300).

8. The cervical spine reduction system according to claim 1, characterized in that, The cervical vertebra reduction system also includes: The marking device (400) comprises a flexible patch (410), a plurality of magnetic positioning sensors (420) and a wireless transmission module (430), wherein the flexible patch (410) is used to be attached to the neck of a patient in a surrounding manner, the plurality of magnetic positioning sensors (420) are built into the flexible patch (410), and the wireless transmission module (430) is used to obtain magnetic induction signals generated by the plurality of magnetic positioning sensors (420) in the magnetic field, and wirelessly transmit the signals to the control device (500) so that the control device (500) can perform spatial registration.

9. The cervical vertebra reduction system according to claim 1, wherein The control device (500) is used to perform the following steps: Inputting the patient's cervical spine scan image and target parameter information into a pre-built data model to obtain a corresponding reduction program; wherein the reduction program includes a multi-level traction strategy, and each level of the traction strategy includes traction angle information, traction strength information, and traction duration information; The traction parameters are sent to the robot arm (300) according to the reset procedure.

10. The cervical spine reduction system according to claim 9, wherein, The control device (500) is also used to perform the following steps: Based on the resetting procedure, a preliminary demonstration of the resetting process of the target object (10) is performed; And / or, according to the reset completion confirmation instruction, the mechanical arm (300) is controlled to gradually cancel the traction force.

11. The cervical spine reduction system according to claim 9, characterized in that, The control device (500) is also used to perform the following steps: receiving an external instruction, and regenerating a reset strategy in combination with at least one of the multi-level pulling strategies; Sending traction parameters to the robot arm (300) according to the reset strategy.

12. The cervical spine reduction system according to claim 9, characterized in that, The control device (500) is also used to perform the following steps: Comparing the position of the positioning device with the expected reset position of the target object (10) using the current level pulling strategy to obtain an evaluation result; Based on the evaluation result, an adjustment increment is calculated to adjust the next-level pulling strategy.

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